Communications of the ACM
Getting a Handle on Robotics Challenge
The researchers set out to make the hand relatively simple, with as little sensor technology as possible.
Credit: Yale OpenHand Project
A robotic hand developed by Yale University researchers can fully rotate objects as its grippers break contact, similar to a human moving an object around to find the best grip.
The researchers used a tendon-driven, underactuated transmission to make the gripper move.
This means there are fewer motors than joints in the hand, enabling it move so that it better "wraps" to the environment.
Further, it features a camera for real-time tracking of the position of the object.
Said Yale's Andrew Morgan, "By coupling the adaptive nature of the hand and this external feedback, we were able to control the hand purely from vision, and without touch sensors."
The robotic hand was able to manipulate objects of various shapes, including a sphere, a toy car, a plastic bunny, and a plastic duck.
From Yale School of Engineering & Applied Science
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